cmake_minimum_required(VERSION 3.8)
project(engineering_detect_node)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake_auto REQUIRED) 
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(OpenCV REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(cv_bridge REQUIRED)  
ament_auto_find_build_dependencies()
find_package(engineering_interfaces REQUIRED)

add_executable(engineering_detect_node src/engineering_detect_node.cpp
                                  src/detector.cpp 
                                  src/PNP_Slove.cpp
                                  include/detector.hpp
                                  include/engineering_detect_node.hpp
                                  include/PNP_Slove.hpp)
target_include_directories(engineering_detect_node PUBLIC
  ${OpenCV_INCLUDE_DIRS}
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(engineering_detect_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
)

ament_target_dependencies(
  engineering_detect_node
  "rclcpp"
  "sensor_msgs"
  "engineering_interfaces"
  "tf2" 
  "tf2_ros" 
  "geometry_msgs"
  "tf2_geometry_msgs"
  "cv_bridge"
)

install(TARGETS engineering_detect_node
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
